config: add pwm limits
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17e89b2041
commit
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@ -1,7 +1,10 @@
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use serde::{Serialize, Deserialize};
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use postcard::{from_bytes, to_slice};
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use uom::si::{
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electric_potential::volt,
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electric_current::ampere,
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};
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use crate::{
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channel_state::ChannelState,
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channels::{CHANNELS, Channels},
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command_parser::CenterPoint,
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pid,
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@ -18,8 +21,8 @@ impl Config {
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pub fn new(channels: &mut Channels) -> Self {
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Config {
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channels: [
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ChannelConfig::new(channels.channel_state(0usize)),
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ChannelConfig::new(channels.channel_state(1usize)),
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ChannelConfig::new(channels, 0),
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ChannelConfig::new(channels, 1),
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],
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}
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}
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@ -39,21 +42,44 @@ pub struct ChannelConfig {
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pid: pid::Parameters,
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pid_target: f32,
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sh: steinhart_hart::Parameters,
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// TODO: pwm limits
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pwm: PwmLimits,
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}
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impl ChannelConfig {
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pub fn new(state: &ChannelState) -> Self {
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pub fn new(channels: &mut Channels, channel: usize) -> Self {
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let pwm = PwmLimits::new(channels, channel);
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let state = channels.channel_state(channel);
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ChannelConfig {
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center: state.center.clone(),
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pid: state.pid.parameters.clone(),
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pid_target: state.pid.target as f32,
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sh: state.sh.clone(),
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pwm,
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}
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}
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}
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#[derive(Clone, Serialize, Deserialize)]
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struct PwmLimits {
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max_v: f32,
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max_i_pos: f32,
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max_i_neg: f32,
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}
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impl PwmLimits {
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pub fn new(channels: &mut Channels, channel: usize) -> Self {
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let (max_v, _) = channels.get_max_v(channel);
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let (max_i_pos, _) = channels.get_max_i_pos(channel);
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let (max_i_neg, _) = channels.get_max_i_neg(channel);
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PwmLimits {
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max_v: max_v.get::<volt>() as f32,
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max_i_pos: max_i_pos.get::<ampere>() as f32,
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max_i_neg: max_i_neg.get::<ampere>() as f32,
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}
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}
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}
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#[cfg(test)]
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mod test {
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use super::*;
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@ -65,6 +91,11 @@ mod test {
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pid: pid::Parameters::default(),
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pid_target: 93.7,
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sh: steinhart_hart::Parameters::default(),
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pwm: PwmLimits {
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max_v: 1.65,
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max_i_pos: 2.1,
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max_i_neg: 2.25,
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},
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};
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let config = Config {
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channels: [
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